1. Assume 4 =[1 0 0], X=[0 1 0], 2A=[0 0 1], xB= [1 2 1], yb= [2 -1 0] as shown in figure below. 4PBORG = [10 5 6] A AP {B} B {A} CB B AP, BORG F A a) What is the vector of zB axis? b) What is the rotation matrix to represent orientation of frame {B} relative to frame {A} c) Write the coordinate transformation between frame {A} and frame {B} d) Use a homogenous transformation to represent the coordinate transformation in question c). What is this homogenous matrix? 1. Assume 4 =[1 0 0], X=[0 1 0], 2A=[0 0 1], xB= [1 2 1], yb= [2 -1 0] as shown in figure below. 4PBORG = [10 5 6] A AP {B} B {A} CB B AP, BORG F A a) What is the vector of zB axis? b) What is the rotation matrix to represent orientation of frame {B} relative to frame {A} c) Write the coordinate transformation between frame {A} and frame {B} d) Use a homogenous transformation to represent the coordinate transformation in question c). What is this homogenous matrix